1. An automatic unhooking cloth releasing and recycling device is characterized by comprising a hanging part, at least two elastic clamping hooks, a connecting part and a cloth releasing and pressing ring;

the lifting part is of a hollow structure; the top of the hoisting part is provided with a hoisting ring; the side surface of the hanging part close to the bottom is provided with at least two corresponding hook slotted holes;

the elastic clamping hook is movably arranged in the clamping hook slot;

the connecting part is provided with a groove; the lifting part is clamped in the groove through the elastic clamping hook; the cloth placing and pressurizing ring is sleeved on the periphery of the hanging part and positioned above the connecting part.

2. The automatic unhooking and recycling device of claim 1, wherein the elastic hooks comprise hooks and compression springs;

the hook is movably arranged in the hook slot through a first bolt penetrating through the top end of the hook;

one end of the pressure spring is fixed on the position, close to the bottom, of the clamping hook, and the other end of the pressure spring is fixed on the inner wall, close to the bottom, of the clamping hook slotted hole.

3. The cloth recycling device with the automatic unhooking function according to claim 1, wherein a limiting stop ring for limiting the cloth pressing ring to slide down is arranged on the periphery of the hanging part, and the cloth pressing ring presses the hook when reaching the position.

4. The automatic unhooking and recycling device of claim 3, wherein said hanging part comprises two semi-cylindrical structures, and said two semi-cylindrical structures are connected into a whole by a plurality of second bolts; the limiting blocking rings comprise two semi-limiting blocking rings, the two semi-limiting blocking rings positioned on the same horizontal plane are respectively and correspondingly arranged on the periphery of the two semi-cylindrical structures, and the two end parts of the semi-limiting blocking rings are respectively flush with the two longitudinal boundaries of the clamping hook slotted holes.

5. The automatic unhooking and recycling device of claim 4, wherein the top of the semi-cylindrical structure is provided with a hanging ring groove; the lifting ring is in threaded connection with the lifting ring groove.

6. The automatic unhooking cloth recycling device according to any one of claims 1 to 5, wherein the connecting part is nested on the connecting seat of the underwater robot through a smooth hole at the bottom of the connecting part.

7. An automatic unhooking cloth placing and recovering method is characterized by comprising the following steps:

1) the umbilical cable is placed between the two semi-cylindrical structures, the two semi-cylindrical structures are connected together, the bottom of the lifting part extends into the groove and is connected through the elastic clamping hook, and the pressure spring is in an elastic opening state; nesting the bottom of the connecting part on a connecting seat of the underwater robot;

2) the integrated structure formed in the step 1) is distributed to a water area through a lifting ring by using lifting equipment, the occlusion part of the lifting part and the connecting part is loosened under the action of buoyancy, a distribution pressure applying ring slides downwards on the periphery of the lifting part under the action of gravity to apply pressure to a hook, a pressure spring is pressed, the hook rotates in a hook slotted hole, the top of the connecting part is separated from the clamping action of the hook, the lifting ring is pulled, and the distribution is finished;

3) the utility model discloses a construction of underwater robot, including underwater robot, clamping hook, hoisting part, pressure spring, pothook slotted hole, pothook, and the clamping hook is connected with lifting device, and the clamping hook is connected with hoisting device, and the clamping hook is pressed down to the umbilical cable of underwater robot transfers the portion of putting, when contacting the connecting portion top, under the portion of putting self action of gravity of hanging, and the pothook is at pothook slotted hole internal rotation, and the pothook breaks through recess top position and gets into, and the pressure spring is bounced off, and the portion of putting and connecting portion joint once more are in the same place, lifts by crane rings, retrieves and accomplishes.

Background

In the long-term sailing process of the ocean vessel, shellfish, rusty spots and the like can be attached to the surface of the underwater hull, the sailing speed and the service life of the vessel are seriously influenced, the fuel consumption is increased by nearly 20%, the underwater robot is connected with the overwater hull through an umbilical cable, the oil consumption of the vessel can be reduced through cleaning the underwater robot, the operation and maintenance cost is reduced, a coating layer is protected, the service life of the hull is prolonged, and the removal of attached marine organisms is helpful for reducing the accident risk of an offshore oil platform, and the stability and the storm resistance are enhanced.

However, the existing underwater robot cannot automatically get off the hook in the process of laying and recovering, and the existing underwater robot is risky and difficult to operate by purely manual operation.

Therefore, it is an urgent need to solve the problems of the art to provide a gravity laying and recovering device and method for an underwater robot to automatically unhook.

Disclosure of Invention

In view of the above, the invention provides an automatic unhooking cloth recycling device and method, which can realize automatic unhooking in the cloth recycling process by means of buoyancy and self gravity.

In order to achieve the purpose, the invention adopts the following technical scheme:

an automatic unhooking cloth releasing and recycling device comprises a lifting part, at least two elastic hooks, a connecting part and a cloth releasing and pressing ring;

the lifting part is of a hollow structure; the top of the hoisting part is provided with a hoisting ring; the side surface of the hanging part close to the bottom is provided with at least two corresponding hook slotted holes;

the elastic clamping hook is movably arranged in the clamping hook slot;

the connecting part is provided with a groove; the lifting part is clamped in the groove through the elastic clamping hook;

the cloth placing and pressurizing ring is sleeved on the periphery of the hanging part and positioned above the connecting part.

By adopting the scheme, the invention has the beneficial effects that:

connecting portion and hang and put the portion and pass through elasticity pothook joint, form buckle formula connection external member structure, under buoyancy and the effect of self gravity under water, realize putting the automatic unhook and the couple of recovery in-process to underwater robot equipment cloth to unhook and couple process need not be through artifical connection and disconnection, has avoided appearing the personal safety accident promptly, has reached the effect of automatic connection disconnection.

Furthermore, the elastic clamping hook comprises a clamping hook and a pressure spring;

the hook is movably arranged in the hook slot through a first bolt penetrating through the top end of the hook;

one end of the pressure spring is fixed on the position, close to the bottom, of the clamping hook, and the other end of the pressure spring is fixed on the inner wall, close to the bottom, of the clamping hook slotted hole.

Furthermore, the periphery of the hanging part is provided with a limiting baffle ring for limiting the placing pressure applying ring to slide down, and the placing pressure applying ring applies pressure to the clamping hook when reaching the position.

Adopt the beneficial effect that above-mentioned further technical scheme produced to be, play spacing effect of blockking to cloth and put the clamping ring, can prevent that cloth from putting the clamping ring and break away from out and hang the portion of putting.

Further, the lifting part comprises two semi-cylindrical structures which are connected into a whole through a plurality of second bolts; the limiting blocking rings comprise two semi-limiting blocking rings, the two semi-limiting blocking rings positioned on the same horizontal plane are respectively and correspondingly arranged on the periphery of the two semi-cylindrical structures, and the two end parts of the semi-limiting blocking rings are respectively flush with the two longitudinal boundaries of the clamping hook slotted holes.

Furthermore, a hanging ring groove is formed in the top of the semi-cylindrical structure; the lifting ring is in threaded connection with the lifting ring groove.

Further, the connecting part is embedded on the connecting seat of the underwater robot through a smooth hole at the bottom of the connecting part.

Adopt the beneficial effect that above-mentioned further technical scheme produced to be connected, connecting portion and connecting seat realization open are connected, and recovery unit can swing in certain extent is put to gravity cloth, conveniently hangs the connection operation between putting portion and the connecting portion.

An automatic unhooking cloth placing and recovering method comprises the following steps:

1) the umbilical cable is placed between the two semi-cylindrical structures, the two semi-cylindrical structures are connected together, the hoisting part is sleeved in the umbilical cable of the underwater robot, the bottom of the hoisting part extends into the groove and is connected through the elastic clamping hook, and the pressure spring is in an elastic opening state at the moment; nesting the bottom of the connecting part on a connecting seat of the underwater robot;

2) the integrated structure formed in the step 1) is distributed to a water area through a lifting ring by using lifting equipment, the occlusion part of the lifting part and the connecting part is loosened under the action of buoyancy, a distribution pressure applying ring slides downwards on the periphery of the lifting part under the action of gravity to apply pressure to a hook, a pressure spring is pressed, the hook rotates in a hook slotted hole, the top of the connecting part is separated from the clamping action of the hook, the lifting ring is pulled, and the distribution is finished;

3) the utility model discloses a construction of underwater robot, including underwater robot, clamping hook, hoisting part, pressure spring, pothook slotted hole, pothook, and the clamping hook is connected with lifting device, and the clamping hook is connected with hoisting device, and the clamping hook is pressed down to the umbilical cable of underwater robot transfers the portion of putting, when contacting the connecting portion top, under the portion of putting self action of gravity of hanging, and the pothook is at pothook slotted hole internal rotation, and the pothook breaks through recess top position and gets into, and the pressure spring is bounced off, and the portion of putting and connecting portion joint once more are in the same place, lifts by crane rings, retrieves and accomplishes.

By adopting the scheme, the invention has the beneficial effects that:

under the action of buoyancy and self gravity, the underwater robot device can be automatically unhooked and hooked in the laying and recovery process, so that the underwater robot is simple and convenient to lay and recover.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural view of an automatic unhooking cloth recycling device provided by the present invention;

fig. 2 is a schematic structural diagram of a semi-cylindrical structure provided by the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-2, the embodiment of the invention discloses an automatic unhooking and recycling device, which comprises a hanging part 1, at least two elastic hooks 2, a connecting part 3 and a cloth placing and pressing ring 4;

the hanging part 1 is of a hollow structure; the top of the hoisting part 1 is provided with a hoisting ring 5; the side surface of the lifting part 1 close to the bottom is provided with at least two corresponding hook slotted holes 11;

the elastic hook 2 is movably arranged in the hook slot hole 11;

the connecting portion 3 has a groove 31; the hanging part 1 is clamped in the groove 31 through the elastic clamping hook 2;

the distributing and pressing ring 4 is sleeved on the periphery of the hanging part 1 and is positioned above the connecting part 3.

According to the invention, the connecting part 3 and the hanging part 1 are clamped through the elastic clamping hook 2 to form a clamping type connecting sleeve structure, and under the action of underwater buoyancy and self gravity, automatic unhooking and hooking in the process of laying and recovering the underwater robot equipment are realized, so that manual connection and disconnection are not needed in the unhooking and hooking process, personal safety accidents are avoided, and the effect of automatic connection and disconnection is achieved.

Specifically, the elastic hook 2 comprises a hook 21 and a pressure spring 22;

the hook 21 is movably arranged in the hook slot hole 11 through a first bolt 23 penetrating through the top end of the hook;

one end of the pressure spring 22 is fixed at the position of the hook 21 close to the bottom end, and the other end of the pressure spring 22 is fixed on the inner wall of the hook slot hole 11 close to the bottom end.

Specifically, the periphery of the hanging part 1 is provided with a limit stop ring 6 for limiting the sliding of the cloth pressing ring 4, and the cloth pressing ring 4 presses the hook 21 when reaching the position.

Specifically, the lifting part 1 comprises two semi-cylindrical structures 12, and the two semi-cylindrical structures 12 are connected into a whole through a plurality of second bolts; the limit stop ring 6 comprises two half limit stop rings 61, the two half limit stop rings 61 positioned on the same horizontal plane are respectively and correspondingly arranged at the periphery of the two half-cylinder structures 12, and the two end parts of the half limit stop rings 61 are respectively flush with the two longitudinal boundaries of the hook slot hole 11, namely the limit stop ring 6 can not block the hook slot hole 11.

Specifically, the top of the semi-cylindrical structure 12 is provided with a hanging ring groove; the lifting ring 5 is in threaded connection with the lifting ring groove.

Specifically, the connecting part 3 is embedded on a connecting seat of the underwater robot through a smooth hole 32 at the bottom of the connecting part.

An automatic unhooking cloth placing and recovering method comprises the following steps:

1) the umbilical cable is placed between the two semi-cylindrical structures 12, the two semi-cylindrical structures 12 are connected together, the hoisting part 1 is sleeved in the umbilical cable of the underwater robot, the bottom of the hoisting part 1 extends into the groove 31 and is connected through the elastic clamping hook 2, and the pressure spring 22 is in an elastic opening state at the moment; the bottom of the connecting part 3 is embedded on a connecting seat of the underwater robot;

2) the integrated structure formed in the step 1) is distributed to a water area through a hanging ring by utilizing a hoisting device, the occlusion part of the hoisting part 1 and the connecting part 3 is loosened under the action of buoyancy, the distribution pressure applying ring 4 slides downwards at the periphery of the hoisting part 1 under the action of gravity to apply pressure to the clamping hook 21, the pressure spring 22 presses the clamping hook 21, the clamping hook 21 rotates in the clamping hook groove hole 11, the top of the connecting part 3 is separated from the clamping effect of the clamping hook 21, the hanging ring 5 is pulled, and the distribution is finished;

3) the cloth is lifted off and is put pressure applying ring 4, rings 5 are connected with hoisting equipment, along with the umbilical cable of underwater robot transfers and hangs portion 1, when contacting 3 tops of connecting portion, under the effect of self gravity of portion 1 that hangs down, pressure spring 22 compresses tightly, pothook 21 rotates in pothook slotted hole 11, pothook 21 breaks through the position of recess 31 top and gets into, pressure spring 22 pops open, hangs portion 1 and connecting portion 3 joint together once more, lifts up rings 5, retrieves and accomplishes.

Under the action of buoyancy and self gravity, the underwater robot device automatic unhooking and hooking device realizes automatic unhooking and hooking in the laying and recovery process of the underwater robot device, so that the laying and recovery operations of the underwater robot are simple and convenient.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.